Development of an embedded sensor system for pneumatic artificial muscle proprioceptors

Spinal reflexes greatly contribute to the control of fast physical interactions (e.g., catching a moving ball) without the influence of higher level control systems involved in human motor control. Therefore, to realize the interactions in robots, it is a useful approach to mimic the nervous system controlling spinal reflexes. To this end, as the starting point for creating spinal reflexes, sensors that measure and encode body movements similar to human proprioceptors are needed to generate signals for the spinal reflexes. In this study, we developed artificial muscle proprioceptors to reproduce spinal reflexes in robots. In particular, we focused on pneumatic artificial muscles and designed an artificial muscle spindle and an artificial Golgi tendon organ, which were integrated with a pneumatic artificial muscle. A compact local measuring system consisting of a microcomputer and amplifiers was developed to easily install and organize the sensors.     

Electrical inhomogeneity at the mott transition in the band width controlled κ-(BEDT-TTF)2Cu[N(CN)2Br

The electronic phase separation on macroscopic scale is studied in the organic Mott system κ-(BEDT-TTF)₂Cu[N(CN)₂]Br by means of scanning micro-region infrared spectroscopy using the synchrotron radiation. The phase separation appears in the vicinity of the Mott boundary in the single crystals of which the band width is controlled by partly substituting the BEDT-TTF molecule with the deuterated one. The transport properties under the phase separation are considered to be influenced by the percolation process of the domains.     

Constructive understanding and reproduction of functions of gluteus medius by using a musculoskeletal walking robot

Several factors affect the performance of humanoid walking. One factor is the complex nature of lower limbs, especially the muscles around the pelvis that contribute significantly to the stability and adaptivity of humanoid locomotion. The significance of this muscle group assures a impact on the facility of walking robots once the nature of its contribution is understood, and it can be replicated on robots. To propose a mechanical structure that facilitates walking in robots, we realized a muscle by modeling its pelvis region like that of a humanoid and developing a musculoskeletal humanoid robot. Especially, we focused on the gluteus medius, which is important for the general stability against frontal movements of the hip. Furthermore, it passively changes its influence on such motions; this is helpful during the different phases of locomotion. These changes depend on the alignment of the pelvis and femur. We confirmed the viability of the robotic gluteus medius, which was simplified to a model of two partial muscles by accomplishing the walking using this robot. This accomplishment verifies our hypothesis that using this model, the supporting functionality for the locomotion of the muscle can be reproduced and enhances the biological plausibility.     

The differential permeation rate measurement of gases in PVAc

The temperature dependence of the CO₂ permeability coefficient in poly(vinyl acetate) (PVAc) was measured continuously by a differential permeation rate method. T_g was changed at upstream pressure in PVAc/CO₂ system, and curious behavior of Ar was observed after CO₂ conditioning. The differential permeation rate experiment successfully exhibits the effects of continuous temperature change for membranes with different histories.     

Enzyme immunoassay of liver-type arginase and its potential clinical application

We developed an efficient enzyme-linked immunosorbent assay (ELISA) system for measurement of human liver-type arginase in serum. A conjugate of the Fab' fragment of anti-human liver (recombinant) arginase IgG and horseradish peroxidase was used as the second antibody. This assay is highly specific, sensitive, and reproducible, enabling us to detect arginase at concentrations as low as several micrograms per liter without any prior processing of serum. The reaction is linear up to 200 micrograms/L. The arginase concentration in serum, as determined by this method, increased markedly and temporarily at the time of surgical operation or later injury to the liver. The increase was accompanied or followed by increases in serum concentrations of aspartate aminotransferase, alanine aminotransferase, and lactate dehydrogenase, suggesting that the arginase emerged from damaged hepatocytes. In view of a limited tissue distribution of liver-type arginase, our ELISA system may be useful in diagnosis of various hepatic disorders as well as follow-up of postoperative conditions of patients.     

Demonstration of a new dopamine-containing cell group in the primate rostral telencephalon

An unusual case of rapid-growing posttraumatic gluteal epidermal cyst with ischiorectal and presacral extension is reported. Pertinent clinical history and magnetic resonance imaging allowed accurate preoperative diagnosis. Cautious complete excision was important to prevent recurrence. To our knowledge, posttraumatic gluteal epidermal cyst with this unusual clinical presentation has not been described previously.     

Asymmetric direduction of 1,2-indanedione to cis (1S,2R) indanediol by Trichosporon cutaneum MY 1506

Cis (1S,2R) indanediol is a potential precursor to (-)-cis (1S,2R)-1-aminoindan-2-ol, a key chiral synthon for a leading HIV protease inhibitor, Crixivan (Indinavir). A potential route to the biosynthesis of this important precursor, the microbial asymmetric direduction of 1,2-indanedione to its corresponding diol, cis (1S,2R) indanediol, was investigated. The screening of 32 yeast strains yielded Trichosporon cutaneum MY 1506 as a suitable biocatalyst. At the 2-l shake-flask scale, 1,2-indanedione (charged at 1.0 g/l) was bioconverted to cis (1S,2R) indanediol at a final bioconversion yield of 99.1% and an enantiomeric excess of >99%. When scaled up in a 23-l bioreactor, T. cutaneum produced 8.4 g of pure cis (1S,2R) indanediol, and the isolated yield of cis (1S,2R) indanediol was 52%. Purification of the scale-up also yielded 0.9 g of the more polar trans (1S,2R) indanediol diastereomer, a minor bioreduction product. Supercritical fluid chromatography analyses of the purified cis (1S,2R) and trans (1S,2S) indanediol demonstrated that the enantiomeric excesses during this bioconversion scale-up were 99% and 26%, respectively.     

Purification, characterization and gene cloning of thermostable O-acetyl-L-homoserine sulfhydrylase forming gamma-cyano-alpha-aminobutyric acid

A thermophilic and cyanide ion-tolerant bacterium, Bacillus stearothermophilus CN3 isolated from a hot spring in Japan, was found to produce thermostable gamma-cyano-alpha-aminobutyric acid synthase. The enzyme was purified and characterized. The purified enzyme has a molecular mass of approximately 180 kDa and consists of four identical subunits. It was stable in the pH range of 6.0 to 10.5 and up to 60 degrees C. The enzyme catalyzed the gamma-replacement reaction of O-acetyl-L-homo-serine with cyanide ions. The gene encoding the gamma-cyano-alpha-aminobutyric acid synthase was isolated from B. stearothermophilus CN3. Sequence homology analysis revealed that the gamma-cyano-alpha-aminobutyric acid synthase from the bacterium is O-acetyl-L-homoserine sulfhydrylase. A recombinant plasmid, constructed by ligation of the cloned gene and an expression vector, was introduced into Escherichia coli JM109. The transformed E. coli cells overexpressed gamma-cyano-alpha-aminobutyric acid synthase. The heat stable gamma-cyano-alpha-aminobutyric acid synthase can be applied to the synthesis of [5-11C]L-glutamic acid used as a tracer for positron emission tomography.